Update readme for new release and add deprecation warning

Author: ClemensSchwarke

README.md

@@ -8,8 +8,7 @@ Environment repositories using the framework:
 * **`Isaac Lab`** (built on top of NVIDIA Isaac Sim): https://github.com/isaac-sim/IsaacLab
 * **`Legged-Gym`** (built on top of NVIDIA Isaac Gym): https://leggedrobotics.github.io/legged_gym/
 
-The main branch supports PPO with additional features from our research.
-These include:
+The main branch supports **PPO** and **Student-Teacher Distillation** with additional features from our research. These include:
 
 * [Random Network Distillation (RND)](https://proceedings.mlr.press/v229/schwarke23a.html) - Encourages exploration by adding
   a curiosity driven intrinsic reward.

pyproject.toml

@@ -4,7 +4,7 @@ build-backend = "setuptools.build_meta"
 
 [project]
 name = "rsl-rl-lib"
-version = "2.2.4"
+version = "2.3.0"
 keywords = ["reinforcement-learning", "isaac", "leggedrobotics", "rl-pytorch"]
 maintainers = [
   { name="Clemens Schwarke", email="cschwarke@ethz.ch" },

rsl_rl/modules/actor_critic_recurrent.py

@@ -5,6 +5,8 @@
 
 from __future__ import annotations
 
+import warnings
+
 from rsl_rl.modules import ActorCritic
 from rsl_rl.networks import Memory
 from rsl_rl.utils import resolve_nn_activation
@@ -27,6 +29,14 @@ def __init__(
         init_noise_std=1.0,
         **kwargs,
     ):
+        if "rnn_hidden_size" in kwargs:
+            warnings.warn(
+                "The argument `rnn_hidden_size` is deprecated and will be removed in a future version. "
+                "Please use `rnn_hidden_dim` instead.",
+                DeprecationWarning,
+            )
+            if rnn_hidden_dim == 256:  # Only override if the new argument is at its default
+                rnn_hidden_dim = kwargs.pop("rnn_hidden_size")
         if kwargs:
             print(
                 "ActorCriticRecurrent.__init__ got unexpected arguments, which will be ignored: " + str(kwargs.keys()),

rsl_rl/modules/student_teacher_recurrent.py

@@ -5,6 +5,8 @@
 
 from __future__ import annotations
 
+import warnings
+
 from rsl_rl.modules import StudentTeacher
 from rsl_rl.networks import Memory
 from rsl_rl.utils import resolve_nn_activation
@@ -28,6 +30,14 @@ def __init__(
         teacher_recurrent=False,
         **kwargs,
     ):
+        if "rnn_hidden_size" in kwargs:
+            warnings.warn(
+                "The argument `rnn_hidden_size` is deprecated and will be removed in a future version. "
+                "Please use `rnn_hidden_dim` instead.",
+                DeprecationWarning,
+            )
+            if rnn_hidden_dim == 256:  # Only override if the new argument is at its default
+                rnn_hidden_dim = kwargs.pop("rnn_hidden_size")
         if kwargs:
             print(
                 "StudentTeacherRecurrent.__init__ got unexpected arguments, which will be ignored: "